Grape harvester

ABSTRACT

A harvester for shaking a grape vine to remove grapes therefrom. A harvesting vehicle includes a pivotally mounted picking head suspended over in straddling fashion a row of grape vines. A pair of swingably mounted and oppositely aligned contact members are reciprocated in unison back and forth against opposite sides of the grape vine. The contact members are driven by a pair of cranks in turn rotated by a motor. A pair of counterweights rotate in unison with but in an opposite direction by its associated crankshaft in turn driving the crank arm and contact member.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation-in-part of our U.S. patentapplication Ser. No. 120,542, filed Feb. 11, 1980, now U.S. Pat. No.4,299,081.

BACKGROUND OF THE INVENTION

This invention is in the field of devices used to pick fruit or otheredible items from a variety of plants, including vines such as grapevines. Typically, the plants to be harvested are arranged in a row withthe harvester then proceeding along the length of the row removing theedible items therefrom. Grape harvesters have heretofore been providedwhich are designed to straddle a row of grape vines with the harvesterhaving a pair of spaced apart arms elevated above ground and driven in agenerally back-and-forth horizontal movement to pulsate or strikeopposite sides of the grape vine causing the grapes to fall from thevine into a receptacle on the harvester. Typically, the pulsating armsare driven in unison first in a general horizontal direction and then inan opposite direction. The arms are movably mounted to a picking head inturn movably mounted to the harvester to track the row of grape vines.

It is the practice to reciprocate the pulsating arms at a speed ofapproximately 400 to 500 cycles per minute. The pulsating arms arerelatively heavy in order to impart sufficient force to the grape vines.For example, each pulsating arm may weigh approximately 80 pounds. As aresult of the rapid back-and-forth movement and heavy weight of thepulsating arms, a considerable amount of vibration occurs in the pickinghead reducing the life of the head and in fact resulting in the eventualself-destruction of the picking head.

Disclosed herein is a balanced picking head which circumvents theaforementioned vibration problem resulting in a greatly increased lifeof the picking head while minimizing maintenance thereof. A pair ofoff-centered weights are rotated in a direction opposite of thecrankshafts which drive the pulsating arms providing a forceneutralizing the vibration normally resulting from the back-and-forthmovement of the pulsating arms.

SUMMARY OF THE INVENTION

One embodiment of the present invention is a harvester comprising framemeans operable to move along in straddling fashion a row of plantshaving growing items thereon and including a receptacle to catch theitems falling from the plants, a head pivotally mounted on the framemeans to pulsate the plants to cause items growing thereon to falltherefrom into the receptacle, the head including a frame pivotallymounted to the frame means and having a pair of downwardly extendingspaced apart supports forming a channel through which the row of plantsmay pass, a pair of horizontally movable arms mountable to the supportswith spaced apart distal ends positionable on opposite sides of the rowof plants, driving means mounted on the frame and operatively associatedwith the arms to reciprocate the arms back and forth against the plantswhile limiting movement of one arm to approximately the same horizontaldirection of movement as the other arm, the driving means including afirst and second crank shaft rotatably mounted about an axis of rotationon the frame, a source of energy having a rotatable output operativelydriving the first and second crank shafts which are connected to thearms maintaining a constant spacing between the distal ends as the armsare reciprocated by the driving means, the arms including at least apair of links with top ends pivotally mounted to the frame and bottomends pivotally connected to the arms suspending the arms therefrom andallowing a swinging arc movement of the arms in response to the drivingmeans and independent of pivotal movement of the frame, the distal endsbeing rigid elongated members extending in the direction of the row ofplants, counterweight means including a first and a second off centeredcounterweight respectively on the first and second crank shaft rotatablymounted on the frame, the counterweight means being operable to providea vibration neutralizing force in a direction opposite of the directionof movement of the arms, and timing means operatively associated withthe first and second off centered counterweights along with the firstand second crank shafts being operable to rotate the counterweightsabout the axis of rotation but in a direction opposite of the crankshaft upon which each counterweight is mounted dampening vibrationimparted to the frame by the arms.

Another embodiment of the present invention is a mechanism for driving aplant harvester comprising a frame, a harvesting arm includingsupporting links pivotally mounting the arm to the frame to support aswinging arc movement of the arm, a motor mounted to the frame andhaving a rotatable output shaft rotatably mounted to the frame, an axlerotatably mounted to the frame and driven by the output shaft, a crankarm mounted to the axle and pivotally connected to the arm toreciprocatively drive the arm as the axle rotates, a counterweightrotatably mounted to the axle, counterweight receiving means including areversing shaft rotatably mounted to the frame and in driven engagementwith the axle to rotate in a direction opposite thereof, the reversingshaft in driving engagement with the counterweight to rotate thecounterweight about the axle in a direction opposite of the direction ofrotation of the axle.

It is an object of the present invention to provide a new and improvedgrape harvester.

Another object of the present invention is to provide a device forpicking items growing on a row of plants which has a minimum ofvibration resulting from the picking process.

A further object of the present invention is to provide a harvesterhaving a picking head with a relatively long life.

Related objects and advantages of the present invention will be apparentfrom the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a fragmentary side view of a harvester incorporating thepresent invention.

FIG. 2 is an fragmentary enlarged cross-sectional view taken along line2--2 of FIG. 1 being viewed in the direction of the arrows and showingthe picking head.

FIG. 3 is a fragmentary right-hand side view of the preferred embodimentof the head shown in FIG. 2.

FIG. 4 is an enlarged view of one of the pulsating arms looking in thedirection of arrows 4--4 of FIG. 2.

FIG. 5 is a diagrammatic view of the pulsating arms with associatedcrankshafts and counterweight shafts with the pulsating arms movingtoward the right-hand position.

FIG. 6 is the same view as FIG. 5 only showing the pulsating arms in theextreme right position.

FIG. 7 is the same view as FIG. 6 only showing the pulsating arms movingtoward the extreme left position.

FIG. 8 is the same view as FIG. 7 only showing the pulsating armslocated in the extreme left position.

FIG. 9 is the same view as FIG. 3 only showing an alternate embodimentof the picking head.

FIG. 10 is a side view of the driving mechanism shown in FIG. 9.

FIG. 11 is a cross-sectional view taken along the line 11--11 of FIG. 9and viewed in the direction of the arrows.

FIG. 12 is the same view as FIG. 3 only showing a further embodiment ofthe picking head.

FIG. 13 is a side view of the driving mechanism shown in FIG. 12.

FIG. 14 is a cross-sectional view taken along the lines 14--14 of FIG.12 and viewed in the direction of the arrows.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

For the purposes of promoting an understanding of the principles of theinvention, reference will now be made to the preferred embodimentsillustrated in the drawings and specific language will be used todescribe the same. It will nevertheless be understood that no limitationof the scope of the invention is thereby intended, such alterations andfurther modifications in the illustrated device, and such furtherapplications of the principles of the invention as illustrated thereinbeing contemplated as would normally occur to one skilled in the art towhich the invention relates.

Referring now more particularly to FIG. 1, there is shown a harvesterfor picking grapes or other edible items. Harvester 10 has aconventional frame 11 which is movable along a row of grape vines,illustrated by dashed line 12 with the harvester straddling the singlerow of grape vines and movable the length thereof along a plurality ofrotatably driven wheels 13. A conventional diesel engine or othersuitable source of energy 14 is mounted to frame 11 and is operable topower a hydraulic system 15 in turn operably and drivingly engaged withwheels 13 for propelling the vehicle along the row of plants to beharvested. A conventional seat 16 for accommodating the operator isprovided atop the frame with conventional controls for operating thevehicle and picking head to be described.

Picking head 17 is the preferred embodiment and is pivotally mounted byjoints 18 and 19 to the top portion 22 of frame 11 and is operable toshake the plants or grape vine in such a manner so as to cause theedible items or grapes to fall downwardly into collector conveyors 118in turn routed through a system of conveyors 119 and 20 to a storagereceptacle 21 all mounted to frame 11. The collector conveyors areconventional in construction. The top portion 22 of frame 11 may beadjusted downwardly toward the ground by hydraulic lifts 23 therebycontrolling the height of picking head 17 relative to the grape vine.Such a vertically adjustable frame with hydraulic lifts are commerciallyavailable and will not be detailed herein.

Referring now to FIGS. 2 and 3, there is shown the picking head 17 whichis operable to shake the plant or grape vine being harvested. Head 17includes a main frame 24 which is pivotally mounted via joints 18 and 19to the top portion 22 of main frame 11. As shown in FIG. 3, joints 18and 19 include a pair of downwardly extending ears from frame portion 22which bearingly receive a connecting pin extending through upwardlyextending ears from frame 24. Thus, head 17 is pivotable at least to alimited extent in the direction of arrows 25 (FIG. 2). Frame 24 includesa pair of downwardly extending supports 26 and 27 which are spaced apartforming a passage 28 through which the row of plants may pass as thevehicle and head are driven the length of the row. A pair ofhorizontally movable arms or contact members 29 and 30 are swingablymounted respectively at the bottom ends of supports 26 and 27 and arereciprocated in unison back and forth in a generally horizontal shallowarc.

Contact member 30 will now be described, it being understood that asimilar description applies to contact member 29. Contact member 30(FIG. 4) is of a one-piece welded construction with the main body of themember extending along a straight line during a substantial portion ofits length forming a contact portion 31 for strikingly engaging theplant. The opposite ends 32 and 33 of the member are flared or radiusedto guide the plant between members 29 and 30. A pair of brackets 34 and35 are fixedly attached to member 30 and extend away from theplant-engaging surface 36. Each bracket 34 and 35 is pivotally suspendedby a pair of links in turn pivotally mounted to frame 24. For example,bracket 34 (FIGS. 2 and 3) includes a pair of upwardly extending ears 36and 37 fixedly attached thereto which in turn are pivotally connected toa pair of links 38 and 39 their top ends 40 and 41 pivotally mounted tosupport 27. Likewise, bracket 35 (FIG. 4) is pivotally mounted to a pairof upwardly extending links having top ends pivotally mounted to support27. Thus, member 30 may swing back and forth in a shallow arc and in ageneral horizontal direction. Likewise, member 29 is pivotally suspendedby links 44 and 45 (FIG. 2) in conjunction with a pair of linkspositioned rearwardly of links 44 and 45, all having top ends 46pivotally mounted to support 26 allowing member 29 to swing back andforth in a shallow arc and in a general horizontal direction.

Each member 29 and 30 is reciprocated by a separate crank arm andcrankshaft combination in turn powered by a hydraulic motor. Forexample, hydraulic motor 47 (FIG. 3) is mounted to frame 24 having arotatable output shaft 48 in turn extending through and engaged with aconventional sprocket 49 frictionally engaged by a continuous belt 50extending downwardly and around a second sprocket 51 fixedly mounted tocrankshaft 52 rotatably mounted at the bottom end of support 27.Crankshaft 52 is bearingly supported by a pair of bearings 53 and 54(FIG. 3) mounted to the bottom end of support 27. Crankshaft 52 has apair of crank arms 55 and 56 fixedly attached at the opposite endportions of the shaft with each crank arm attached to a separate linkhaving outer ends pivotally secured to member 30. Links 57 and 58 (FIG.5) have outer ends pivotally connected by pins to a pair of rearwardlyextending ears 59 and 60 in turn fixedly attached to portion 31 ofmember 30. The inner ends of links 57 and 58 are respectively pivotallyconnected to crank arms 55 and 56 in turn fixedly mounted to shaft 52.Thus, rotation of shaft 52 caused by movement of belt 50 results inmovement of crank arms 55 and 56 about the axis of rotation 59 of shaft52 thereby causing links 57 and 58 to move along with member 30 in areciprocative horizontal movement with a slight arc imparted to themovement by links 38, 39, 42 (and the fourth link not shown on bracket35) limiting the movement of the member.

A second crankshaft 60 is rotatably mounted to the bottom end of support26 (FIG. 2) and has a pair of crank arms identical to crank arms 55 and56 which are connected by links identical to links 57 and 58 in turnattached to member 29 thereby causing a reciprocating horizontalmovement of member 29 which is also imparted a slight arc by movementlimitation provided by links 44 and 45. A sprocket 61 fixedly mounted tooutput shaft 48 (FIG. 3) frictionally engages a continuous belt 62 whichextends across the top portion of frame 24 to a second power shaft 63(FIG. 2) rotatably mounted and bearingly received by the top portion offrame 24 being positioned above support 26. Sprocket 64 is fixedlymounted to shaft 63 and frictionally engages a continuous belt 65 whichextends downwardly around and frictionally engages a sprocket providedon crankshaft 60 thereby causing shaft 60 to rotate in unison with shaft52 and thereby providing for reciprocating motion of both members 29 and30. Only a single link 67 is shown in FIG. 2 as connecting member 29 tothe crank arm on shaft 60, it being understood that a second crank armand link are provided in a manner identical as that described for member30. Best results are obtained by using toothed gear belts engagingmatching toothed sheaves in lieu of friction belts 50, 62 and 65 alongwith their associated sprockets.

Each contact member 29 and 30 weighs approximately 80 pounds and isreciprocated at approximately 450 cycles per minute. Member 30 moves inthe same direction as member 29 with both members moving generallyhorizontally back and forth striking the opposite sides of the grapevine in cyclic fashion. It can therefore be appreciated that aconsiderable amount of vibratory force would normally be applied to head17 as a result of the reciprocative movement of members 29 and 30. Inorder to minimize the vibration, a pair of counterweight shafts areprovided, each having a counterweight thereon rotating in a directionopposite of shafts 60 and 52 with the counterweights positioned so as toneutralize the reciprocative force exerted on head 17 by members 29 and30. For example, counterweight shaft 68 (FIG. 3) has a pair of oppositeends bearingly received and supported by conventional bearings 69 and 70in turn fixedly mounted to support 27. Shaft 68 is not contacted by belt50 but instead has a separate chain connection to shaft 52. A standardsprocket 71 is fixedly mounted to shaft 68 and is aligned with andbetween a second chain sprocket 72 fixedly mounted to shaft 52 and anidler sprocket 73 fixedly mounted to an idler shaft bearingly mounted tosupport 27. A continuous roller chain 75 (FIG. 2) is engaged with theteeth of sprockets 72, 71 and 73 in such a manner to cause shafts 52 and68 to rotate in opposite directions. In the embodiment shown in FIG. 2,roller chain 75 extends downwardly from idler sprocket 75 withoutcontacting sprocket 71 and frictionally engages and extends aroundsprocket 72 extending then upwardly to engage the rearward portion ofsprocket 71. Thus, with chain 75 moving in the direction of arrow 76(FIG. 2), shaft 52 will rotate in a clockwise direction as shown in FIG.2 with shaft 68 rotating in a counterclockwise direction. Suitablestructure is provided for adjusting idler sprocket 73 upward or downwardto control the tension on roller chain 75.

A pair of counterweights 77 and 78 (FIG. 3) are mounted to sprocket 71and off-center relative to the axis of rotation 79 of shaft 68. Further,additional counterweights 80 and 81 are mounted to plate 82 fixedlymounted to shaft 68 with weights 80 and 81 also being providedoff-center to the axis of rotation 79. Further, a pair of balanceweights 83 and 84 are fixedly mounted to disk 85 and 86, respectively,in turn fixedly mounted to shaft 52 with weights 83 and 84 being locatedoff-center relative to axis of rotation 59. It will be noted in FIG. 3that counterweights 77, 78, 80 and 81 are positioned at the top deadcenter relative to axis 79 whereas balance weights 83 and 84 aresimultaneously mounted at the bottom dead center relative to axis 59 andwith the crank arm pivotal connection to links 57 and 58 being providedat the top dead center of shaft 52 relative to axis of rotation 59.

An identical counterweight shaft with weights is provided for member 29.Counterweight shaft 90 (FIG. 2) is bearingly mounted and rotatable onsupport 26 and carries a sprocket 91 in turn engaged by a continuousroller chain also engaged with a sprocket provided on crankshaft 60 andan idler sprocket located above sprocket 91 and identical to idlersprocket 73. Thus, counterweight shaft 90 rotates in a directionopposite of shaft 60 and carries a plurality of weights identical toweights 77, 78, 80 and 81. Likewise, shaft 60 carries a plurality ofcounterbalance weights identical to weights 83 and 84 with shafts 52 and60 rotating in the same clockwise direction (as viewed in FIG. 2)whereas shafts 68 and 90 rotate in a counterclockwise direction. Aclearer understanding of the operation of the reciprocating members withassociated counterweight shafts will be obtained by referring to FIGS.5-8.

In FIG. 5, contact members 29 and 30 are shown moving to the extremeright position. Crankshafts 60 and 52 rotate in a clockwise directionwhereas shafts 90 and 68 rotate in a counterclockwise direction. Plant100 which represents the grape vine is engaged by member 29 and is beingforced to the right as shown in FIG. 6. The proximal ends of links 67and 57 pivotally attached respectively to members 29 and 30 arepivotally connected to crank arms 66 and 55 fixedly mounted tocrankshaft 60 and 52 with the pivotal connection between the crank armsand links being positioned at top dead center whereas the balanceweights 83 mounted to shaft 52 are located at bottom dead center and thecounterweights 78 mounted to shaft 68 are located at top dead center.Likewise, the weights mounted to shafts 60 and 90 are locatedrespectively at bottom dead center and top dead center. Thus, withmembers 29 and 30 moving toward the right direction, a neutralizingforce from the weights associated with shafts 68, 90, 60 and 52 isdirected in a leftward position. That is, forces 101 and 102 exhibitedby weights 83 and 78 are directed to the left with forces 103 and 104being provided by the weights mounted to shafts 60 and 90.

In FIG. 6, members 29 and 30 are positioned in the extreme rightposition with plant 100 also being forced to the most extreme rightposition. In the position shown in FIG. 6, members 29 and 30 are movingneither to the left nor the right whereas the weights on shafts 90 and68 are moving downward whereas weights on shafts 60 and 52 are movingupward. The downward forces 107 resulting from the downward movingweights neutralize the upward directed forces 108 resulting from theupward moving weights. Continued counterclockwise rotation of shafts 90and 68 with clockwise rotation of shafts 60 and 52 result in members 29and 30 moving back toward the left as shown in FIG. 7 with member 30 nowcontacting plant 100 and forcing the plant to the left. All weights onshafts 50, 60, 68 and 90 shown in FIG. 7 now produce an additive forceto the right neutralizing the leftward directed force resulting from themovement of members 29 and 30 to the left. Continued rotation of theshafts results in the ultimate positioning of members 29 and 30 in themost leftward position with members 29 and 30 being temporarily at restand with the top weights on shafts 68 and 90 providing an upwarddirected force which is neutralized by the downward directed forceresulting from the downwardly moving weights on shafts 52 and 60.

Members 29 and 30 provide a pair of pulsating arms with mutually facingbut opposed distal ends which are spaced apart a constant distancethroughout the reciprocative movement of the members. The pivotalconnection of head 17 to the harvester frame allows the head to trackthe row of vines whereas the suspension links including links 38, 39,42, 44 and 45 holding members 29 and 30 allow the members 29 and 30 tobe reciprocated back and forth against the plant or vine.

Members 29 and 30 are reciprocated by a driving means mounted on theframe which includes hydraulic motor 47, belts 50 and 62 along withcrankshafts 52 and 60 and the associated crank arm linkage connected tomembers 29 and 30. The driving means is operatively associated with themembers to reciprocate the members back and forth against the grape vinewhile limiting or insuring that each arm moves in the same generalhorizontal direction of movement. The slight arc of movement resultingfrom the suspension links is not critical to the operation of thepicking head, it being understood that a general horizontal movement isdesired with the arc resulting from the manner of mounting of themembers. The suspension links allow for a swinging arc movement of theattached members 29 and 30 in response to the motion imparted by thedriving means. Members 29 and 30 move in unison; that is, member 29 isalways moving in the same general horizontal direction as member 30.Each member 29 and 30 is a plant contactor which may be used torepetitively strike the plant to be harvested.

The counterweights mounted to shafts 68 and 90 provide a counterweightmeans which is operable to provide a force in a direction opposite ofthe direction of movement of members 29 and 30. The counterweightsmounted to shafts 68 and 90 are located off-center with respect to theaxis of rotation of the shafts.

The roller chains engaged with the sprockets on shafts 68 and 90 as wellas the sprockets on shafts 52 and 60 and the two idler sprockets providea timing means which is operatively associated with the off-centeredcounterweights provided on shafts 68 and 90 along with crankshafts 52and 60 to rotate each counterweight on shafts 68 and 90 when eachcrankshaft 52 and 60 rotate. Further, the timing means or roller chainsare operably associated with contact members 29 and 30 along with thecounterweights on shafts 68 and 90 to move the counterweights inresponse to the reciprocative movement of the contact member while atthe same time limiting movement of the counterweights to a directionother than the direction of reciprocative movement of contact members 29and 30. The timing means also is operable to transmit rotational forcefrom the crankshafts 52 and 60 to shafts 68 and 90.

The vibration normally resulting from the reciprocating contact membersis dampened by means mounted to the head which includes the plurality ofweights mounted to shafts 68 and 90 which are operatively associatedwith members 29 and 30 to move oppositely of members 29 and 30. Thecounterbalance shafts are connected by means of the roller chains whichare engaged with the pair of crankshafts in turn driving members 29 and30. The weights located on shaft 68 are angularly located relative toaxis 79, the same as the angular location of the weights provided onshaft 90. Further, the balance weights 83 and 84 are angularly locatedon shaft 52 the same as the angular location of the balance weightsprovided on shaft 60. The balance weights on shafts 52 and 60 areangularly positioned opposite of the connection of the proximal ends ofthe connecting links of elements 29 and 30 with respect to thecrankshafts. For example, balance weights 83 and 84 are angularlylocated 180 degrees from the pivotal connection of links 57 and 58 toshaft 52. Each link 57 and 58 has a proximal end which is bearinglyconnected off-center relative to the axis of rotation 59 of shaft 52 soas to cause a reciprocating movement to member 30.

An alternate embodiment of the picking head is shown in FIGS. 9-11 witha further embodiment shown in FIGS. 12-14. Picking heads 200 (FIG. 9)and 300 (FIG. 12) is identical to picking head 17 (FIG. 2) with theexception of the mechanism used to drive the striking arms and thestructure for counterbalancing the forces generated by the strikingarms. Thus, a side view with only one half of picking head 200 and 300is shown in FIGS. 9 and 12 it being understood that a similardescription applies to the remaining half of each picking head. Eachhead 200 and 300 includes respectively a main frame 201 and 301pivotally mounted to the main structure of the harvester as previouslydescribed for the embodiment shown in FIG. 2. Mounted atop frames 201and 301 are respectively motors 202 and 302 having respectivelyrotatable output axles 203 and 303 bearingly received respectively byconventional bearings 204, 205 and 304, 305 mounted atop frames 201 and301.

The distal end of the output shaft 203 (FIG. 9) has a sprocket 206fixedly mounted thereon and in frictional engagement with a toothedcontinuous belt 207 in turn frictionally engaged with a second sprocket208 fixedly mounted to one end of axle 209 rotatably mounted to bearings210 and 211 mounted to frame 201. A toothed gear 212 (FIGS. 9 and 10) isfixedly mounted to axle 209 and is in meshing engagement with acontinuous chain 213 in turn in meshing engagement with a second gear214 fixedly mounted to axle 215 bearingly mounted to frame 201 byconventional bearings 216 and 217. Gear 270 is rotatably mounted toframe 201 and is in meshing engagement with chain 213 to properly guidethe chain to sprocket 243 while eliminating slack in the chain.

Striker arm 220 is identical to the striker arm 30 shown in FIG. 4 withthe exception that only a single link is used to connect the arm to thecrank arm attached to the drive shaft. Thus, striker arm 220 includes anelongated member 221 for pulsating the plants with the elongated memberbeing pivotally suspended by four links from frame 201. A pair ofbrackets 222 and 223 (FIG. 9) extend from elongated member 221 towardsframe 201 with brackets 222 and 223 being fixedly attached to member221. Each bracket 222 and 223 includes a pair of upwardly extendinglinks pivotally mounted thereto. For example, arm 220 has a pair ofupwardly extending supporting links 224 and 225 pivotally attached tobracket 222. Likewise, bracket 223 includes a pair of upwardly extendinglinks with one of the links 226 depicted in FIG. 9. Links 225 and 226are fixedly attached at their upper ends to a torque tube 227 in turnbearingly mounted to frame 201 by conventional bearings 228 and 229.Links 225 and 226 swing in unison with torque tube 227 preventing link225 from swinging out of sequence relatively to link 226. Likewise, link224 and its aligned link pivotally attached to bracket 223 have top endsfixedly mounted to a second torque tube 230 in turn bearingly mounted toframe 201 by conventional bearings. Thus, link 224 and its aligned linkswing in unison. In fact, by utilizing two torque tubes 227 and 230 allfour links swing in unison providing a uniform motion to striker arm220.

Striker arm 220 is driven in a manner similar to that previouslydescribed for a striker arm 30 with the exception that only a singlecrank arm is used to drive striker arm 220. Frame 201 is fragemented atlocation 235 (FIG. 9) to illustrate the pivotal connection between arm220 and crank arm 218. The outer end of crank arm 218 is pivotallyconnected to one end of link 236 with the opposite end of the connectinglink pivotally connected to member 237 in turn having its opposite endpivotally connected to elongated member 221. Link 236 and member 237 arelocated between brackets 222 and 223 and equidistant between the leadingedge 238 and the trailing edge 239 of elongated member 221. On the otherhand, brackets 222 and 223 are located off center towards the trailingend 239 of elongated member 221.

A counterweight reversing axle 240 (FIG. 9) is rotatably mounted byconventional bearings 241 and 242 to frame 201. A pair of gears 243 and244 are fixedly mounted to axle 240. Gear 243 is positioned outwardly ofbut is in meshing engagement with chain 213 thereby causing axle 240 torotate in direction opposite of axles 209 and 215. Gear 244 is inmeshing engagement with a second chain 245 in turn in meshing engagementwith a toothed sprocket 246 mounted by anti-friction bearings to rotatefreely on axle 215. Thus, rotation of axle 215 does not directly causemovement of sprocket 246 but instead the sprocket is caused to rotate ina direction opposite of axle 215 due to the opposite rotation of axle240 and sprocket 244 relative to axle 215. Counterweights 247 and 248are fixedly mounted to the opposite sides of sprockets 246 and rotatetherewith. Counterweights 247 and 248 are mounted off center relative toaxle 215 with the center of gravity of each counterweight being locateddirectly above axle 215 when link 236 and crank arm 218 are located inthe top dead center. Further, the bottom dead center portion, as viewedin FIG. 9 of crank arm 218, provides a counterbalance weight for thecrank arm. Thus, a neutralizing force from the counterweights 247, 248and the weight of the bottom portion of crank arm 218 is directedrightwardly as viewed in FIG. 10 shown by arrow 259 (FIG. 11), ascompared to the leftward force of arm 220. The neutralizing force istherefore provided in a manner identical to that described for theembodiment shown in FIG. 5.

Movement of axle 203 (FIG. 10) in the counterclockwise direction ofarrow 250 causes belt 207 to move in the direction of arrow 251 therebycausing rotation of axle 209 also in the counterclockwise direction.Further, movement of axle 209 in the counterclockwise direction causeschain 213 to move in the direction of arrow 252 thereby causing axle 215to move in the direction of arrow 253 with axle 240 moving in theopposite direction shown by arrow 254. With crank arm 218 and link 236positioned at the top dead center position in FIG. 10, continuedrotation of axle 215 in the direction of arrow 253 causes link 236 tomove in the direction of arrow 255 and striker arm to move in thedirection of arrow 256. Further, movement of axle 240 in the clockwisedirection of arrow 254 (FIG. 11) results in chain 245 moving in thedirection of arrow 257 resulting in counterweights 247 and 248 movingabout axle 215 in the direction of arrow 259.

Picking head 300 is identical relative to picking head 200 with theexception of the driving mechanism and counterweight structure. Sprocket306 is fixedly mounted to motor output shaft 303 and is in frictionalengagement with a toothed continuous belt 307 extending downwardly tothe drive axle 315 rotatably mounted by conventional bearings 316 and317 to frame 301. Sprocket 308 is fixedly mounted to shaft 315 and is infrictional engagement with belt 307.

Striker arm 320 is identical to striker arm 220 and is pivotallysuspended by four links identical to the links described for striker arm220. Thus, links 325 and 326 are shown as pivotally connected to theelongated member 321 of striker arm 320 with the top ends of arms 325and 325 being fixedly attached to a horizontally extending torque arm327 rotatably mounted to frame 301 thereby ensuring that each link 325and 326 are in sequence together. Likewise, the remaining two linkspivotally attached to elongated member 321 are fixedly attached at theirupper ends to a horizontal extending torque arm 330 rotatably mounted toframe 301. Further, a crank arm 318 identical to crank arm 218 isfixedly mounted to axle 315 and is connected to elongated member 321 bylinks 336 and 337 in a manner identical to the connection of crank arm218 to elongated member 221.

A counterweight reversing axle 340 is rotatably mounted by conventionalbearings 341 and 342 in turn mounted to frame 301. A pair of toothedsprockets 343 and 344 are fixedly mounted to axle 340. A third sprocket370 is rotatably mounted to frame 301 and is in meshing engagement witha continuous chain 313 in turn in meshing engagement with sprocket 314fixedly mounted to axle 315. Sprocket 343 is located outwardly of chain313 but is in meshing engagement therewith. Thus, with axle 303 turningin a counterclockwise direction 350 (FIG. 13) and with belt 307 movingin the direction of arrow 351, axle 315 and sprocket 314 will move inthe counterclockwise direction of arrow 353 causing chain 313 to move inthe direction of arrow 352 and axle 340 along with sprocket 343 movingin the clockwise direction of arrow 354.

Sprocket 344 is in meshing engagement with chain 345 in turn in meshingengagement with sprocket 346 mounted to axle 315 by anti-frictionbearings. Thus, rotation of axle 315 will not cause movement directly ofsprocket 346 but instead will cause axle 340 and sprocket 344 to move ina rotational direction opposite of axle 315. Clockwise rotation of axle340 in the direction of arrow 354 (FIG. 14) causes chain 345 to move inthe direction of arrow 357 and counterweights 347 and 348 attached tothe opposite sides of sprocket 346 to move in the clockwise direction ofarrow 358. Counterweights 347 and 348 have a center of gravity locatedabove axle 315 when crank arm 318 and its connecting link are locatedatop dead center as shown in FIG. 13. Thus, the counterweights willgenerate a cancelling force opposite to the moving striker arm.

Grape vines are supported by and grown on horizontally extending wires.The grape harvester proceeding along a row of plants will transmitvibratory motion to the horizontally extending wire and thus shake notonly the plants located between the striker arms but also plants locatedtwo feet in front of the harvester. Thus it is possible to harvestgrapes from the vines located in front of the harvester. In order tominimize harvesting in front of the harvester, the striker bars may bebowed in lieu of straight as shown in the drawings. Thus, the middle ofone striker arm will be located fairly close to the middle of theadjacent striker arm whereas the opposite distal ends will beconsiderably spaced apart. Thus only the middle portion of the strikerarm will contact the plants reducing the amount of harvesting of plantspreceding the harvester.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, the same is to be considered asillustrative and not restrictive in character, it being understood thatonly the preferred embodiments have been shown and described and thatall changes and modifications that come within the spirit of theinvention are desired to be protected.

The invention claimed is:
 1. A harvester comprising:frame means operableto move along in straddling fashion a row of plants having growing itemsthereon and including a receptacle to catch said items falling from saidplants; a head pivotally mounted on said frame means to pulsate saidplants to cause items growing thereon to fall therefrom into saidreceptacle, said head including: a frame pivotally mounted to said framemeans and having a pair of downwardly extending spaced apart supportsforming a channel through which said row of plants may pass; a pair ofhorizontally movable arms mountable to said supports with spaced apartdistal ends positionable on opposite sides of said row of plants;driving means mounted on said frame and operatively associated with saidarms to reciprocate said arms back and forth against said plants whilelimiting movement of one arm to approximately the same horizontaldirection of movement as the other arm, said driving means includingfirst and second crank shafts rotatably mounted about an axis ofrotation on said frame, a source of energy having a rotatable outputoperatively driving said first and second crank shafts which areconnected to said arms maintaining a constant spacing between saiddistal ends as said arms are reciprocated by said driving means, saidarms including at least a pair of links with top ends pivotally mountedto said frame and bottom ends pivotally connected to said armssuspending said arms therefrom and allowing a swinging arc movement ofsaid arms in response to said driving means and independent of pivotalmovement of said frame, said distal ends being rigid members extendingin the direction of said row of plants; counterweight means including afirst and a second off centered counterweights respectively on saidfirst and second crank shaft rotatably mounted on said frame, saidcounterweight means being operable to provide a vibration neutralizingforce in a direction opposite of the direction of movement of said arms;and timing means operatively associated with said first and second offcentered counterweights along with said first and second crank shaftsbeing operable to rotate said counterweights about said axis of rotationbut in a direction opposite of the crank shaft upon which eachcounterweight is mounted dampening vibration imparted to said frame bysaid arms.
 2. The harvester of claim 1 wherein each arm includes one ofsaid rigid members fixedly attached to a pair of brackets in a one piececonstruction, each rigid member extending along a straight line during asubstantial portion of its length with a flared end to guide saidplants, each of said brackets pivotally connected and suspended to saidbottom ends of said links, each arm including an intermediate link withopposite ends pivotally connected to and between one rigid member andone of said crank shafts.
 3. The harvester of claim 1 wherein saidtiming means includes a pair of reversing shafts rotatably mounted tosaid frame, each of said reversing shafts is associated with arespective one of said crank shafts and is driven in a directionopposite of its respective crank shaft, said timing means furtherincludes connecting means engaged with said counterweights and saidreversing shafts operable to rotate each of said counterweights in adirection opposite of the crank shaft upon which each counterweight ismounted.
 4. The harvester of claim 1 wherein:said driving means includesan intermediate shaft rotatably mounted on said frame and a continuousbelt drivingly engaged with said intermediate shaft and driven by saidrotatable output of said source of energy, said intermediate shaft is indriving engagement with said first crank shaft; said counterweight meansincludes a counterweight reversing shaft rotatably mounted to said frameand driven by said intermediate shaft in a direction opposite of saidfirst crank shaft, said counterweight means is drivingly engaged withsaid first off centered counterweight driving same in a directionopposite of said first crank shaft.
 5. The harvester of claim 1 whereinsaid driving means includes a continuous belt driven by said rotatableoutput of said source of energy with said belt also frictionally engagedwith said first crank shaft for the rotation thereof; said counterweightmeans includes a counterweight reversing shaft driven by said firstcrank shaft in a direction opposite of said first crank shaft with saidreversing shaft engaged with said first off centered counterweightdriving same in a direction opposite of said first crank shaft.
 6. Amechanism for driving a plant harvester comprising:a frame; a harvestingarm including supporting links pivotally mounting said harvesting arm tosaid frame to support a swinging arc movement of said harvesting arm; amotor mounted to said frame and having a rotatable output shaftrotatably mounted to said frame; an axle rotatably mounted to said frameand driven by said output shaft; a crank arm mounted to said axle andpivotally connected to said harvesting arm to reciprocatively drive saidharvesting arm as said axle rotates; a counterweight rotatably mountedto said axle; counterweight driving means including a reversing shaftrotatably mounted to said frame and in driven engagement with said axleto rotate in a direction opposite thereof, said reversing shaft indriving engagement with said counterweight to rotate said counterweightabout said axle in a direction opposite of the direction of rotation ofsaid axle.
 7. The mechanism of claim 6 and further comprising:anintermediate shaft rotatably mounted to said frame; a continuous beltengaged with said output shaft and said intermediate shaft andtransmitting rotational motion thereto; a continuous chain in drivingengagement with said intermediate shaft and said axle and transmittingrotational motion from said intermediate shaft to said axle.
 8. Themechanism of claim 6 and further comprising:a continuous belt engagedwith said rotatable output shaft and said axle and transmittingrotational motion thereto.
 9. The mechanism of claim 7 wherein:saidchain engages said reversing shaft and drives same in a directionopposite of said axle.